Index: /trunk/rtcm3torinex/lib/rtcm3torinex.c =================================================================== --- /trunk/rtcm3torinex/lib/rtcm3torinex.c (revision 6598) +++ /trunk/rtcm3torinex/lib/rtcm3torinex.c (revision 6599) @@ -447,4 +447,61 @@ ge->TOW = 0.9999E9; ret = 1019; + } + break; + case RTCM3ID_BDS: + { + struct bdsephemeris *be; + int sv, i, week, tow; + be = &handle->ephemerisBDS; + memset(be, 0, sizeof(*be)); + + GETBITS(sv, 6) + be->satellite += PRN_BDS_START-1; + GETBITS(be->BDSweek, 13) + GETBITS(be->URAI, 4) + GETFLOATSIGN(be->IDOT, 14, 1.0/(double)(1<<30)/(double)(1<<13)) + GETBITS(be->AODE, 5) + GETBITS(be->TOC, 17) + be->TOC <<= 3; + GETFLOATSIGN(be->clock_driftrate, 11, 1.0/(double)(1<<30)/(double)(1<<30)/(double)(1<<6)) + GETFLOATSIGN(be->clock_drift, 22, 1.0/(double)(1<<30)/(double)(1<<20)) + GETFLOATSIGN(be->clock_bias, 24, 1.0/(double)(1<<30)/(double)(1<<3)) + GETBITS(be->AODC, 5) + GETFLOATSIGN(be->Crs, 18, 1.0/(double)(1<<6)) + GETFLOATSIGN(be->Delta_n, 16, 1.0/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(be->M0, 32, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(be->Cuc, 18, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOAT(be->e, 32, 1.0/(double)(1<<30)/(double)(1<<3)) + GETFLOATSIGN(be->Cus, 18, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOAT(be->sqrt_A, 32, 1.0/(double)(1<<19)) + GETBITS(be->TOE, 17) + be->TOE <<= 3; + GETFLOATSIGN(be->Cic, 18, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(be->OMEGA0, 32, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(be->Cis, 18, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(be->i0, 32, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(be->Crc, 18, 1.0/(double)(1<<8)) + GETFLOATSIGN(be->omega, 32, 1.0/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(be->OMEGADOT, 24, 1.0/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(be->TGD_B1_B3, 10, 0.000000001) + GETFLOATSIGN(be->TGD_B2_B3, 10, 0.000000001) + GETBITS(sv, 1) + if(sv) + be->flags |= BDSEPHF_SATH1; + week = 1356+be->BDSweek; + tow = 14+be->TOE; + if(tow > 7*24*60*60) /* overflow due to leap */ + { + ++week; + tow -= 7*24*60*60; + } + i = (week - (int)handle->GPSWeek)*7*24*60*60 + + (tow - (int)handle->GPSTOW) - 2*60*60; + if(i > 5*60*60 && i < 8*60*60) + { + handle->GPSTOW = tow; + handle->GPSWeek = week; + } + ret = RTCM3ID_BDS; } break; @@ -1293,9 +1350,9 @@ GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1X"} }; - struct CodeData compass[RTCM3_MSM_NUMSIG] = + struct CodeData bds[RTCM3_MSM_NUMSIG] = { {0,0,0,0,0,0,0}, {GNSSENTRY_CB1DATA,GNSSENTRY_LB1DATA,GNSSENTRY_DB1DATA, - GNSSENTRY_SB1DATA,GNSSDF2_LOCKLOSSB1,COMPASS_WAVELENGTH_B1,"1I"}, + GNSSENTRY_SB1DATA,GNSSDF2_LOCKLOSSB1,BDS_WAVELENGTH_B1,"1I"}, {0,0,0,0,0,0,0}, {0,0,0,0,0,0,0}, @@ -1304,5 +1361,5 @@ {0,0,0,0,0,0,0}, {GNSSENTRY_CB3DATA,GNSSENTRY_LB3DATA,GNSSENTRY_DB3DATA, - GNSSENTRY_SB3DATA,GNSSDF2_LOCKLOSSB3,COMPASS_WAVELENGTH_B3,"6I"}, + GNSSENTRY_SB3DATA,GNSSDF2_LOCKLOSSB3,BDS_WAVELENGTH_B3,"6I"}, {0,0,0,0,0,0,0}, {0,0,0,0,0,0,0}, @@ -1311,5 +1368,5 @@ {0,0,0,0,0,0,0}, {GNSSENTRY_CB2DATA,GNSSENTRY_LB2DATA,GNSSENTRY_DB2DATA, - GNSSENTRY_SB2DATA,GNSSDF2_LOCKLOSSB2,COMPASS_WAVELENGTH_B2,"7I"}, + GNSSENTRY_SB2DATA,GNSSDF2_LOCKLOSSB2,BDS_WAVELENGTH_B2,"7I"}, {0,0,0,0,0,0,0}, {0,0,0,0,0,0,0}, @@ -1348,6 +1405,6 @@ if(type >= 1121) { - sys = RTCM3_MSM_COMPASS; - start = PRN_COMPASS_START; + sys = RTCM3_MSM_BDS; + start = PRN_BDS_START; } else if(type >= 1111) @@ -1377,5 +1434,5 @@ switch(sys) { - case RTCM3_MSM_COMPASS: + case RTCM3_MSM_BDS: GETBITS(i,30) i += 14000; @@ -1587,6 +1644,6 @@ wl = cd.wl; break; - case RTCM3_MSM_COMPASS: - cd = compass[RTCM3_MSM_NUMSIG-j-1]; + case RTCM3_MSM_BDS: + cd = bds[RTCM3_MSM_NUMSIG-j-1]; wl = cd.wl; break; @@ -1848,4 +1905,24 @@ j = week*(7*24*60*60) + tow + 5*24*60*60; for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i) + j -= k; + c->year = i; + doy = 1+ (j / (24*60*60)); + j %= (24*60*60); + c->hour = j / (60*60); + j %= (60*60); + c->minute = j / 60; + c->second = j % 60; + j = 0; + for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i) + j += k; + c->month = i; + c->day = doy - j; +} + +void converttimebds(struct converttimeinfo *c, int week, int tow) +{ + int i, k, doy, j; /* temporary variables */ + j = week*(7*24*60*60) + tow; + for(i = 2006; j >= (k = (365+longyear(i,0))*24*60*60); ++i) j -= k; c->year = i; @@ -2118,17 +2195,17 @@ } - INITFLAGS(COMPASS) - CHECKFLAGSNEW(COMPASS, CB1, C2I) - CHECKFLAGSNEW(COMPASS, LB1, L2I) - CHECKFLAGSNEW(COMPASS, DB1, D2I) - CHECKFLAGSNEW(COMPASS, SB1, S2I) - CHECKFLAGSNEW(COMPASS, CB2, C7I) - CHECKFLAGSNEW(COMPASS, LB2, L7I) - CHECKFLAGSNEW(COMPASS, DB2, D7I) - CHECKFLAGSNEW(COMPASS, SB2, S7I) - CHECKFLAGSNEW(COMPASS, CB3, C6I) - CHECKFLAGSNEW(COMPASS, LB3, L6I) - CHECKFLAGSNEW(COMPASS, DB3, D6I) - CHECKFLAGSNEW(COMPASS, SB3, S6I) + INITFLAGS(BDS) + CHECKFLAGSNEW(BDS, CB1, C2I) + CHECKFLAGSNEW(BDS, LB1, L2I) + CHECKFLAGSNEW(BDS, DB1, D2I) + CHECKFLAGSNEW(BDS, SB1, S2I) + CHECKFLAGSNEW(BDS, CB2, C7I) + CHECKFLAGSNEW(BDS, LB2, L7I) + CHECKFLAGSNEW(BDS, DB2, D7I) + CHECKFLAGSNEW(BDS, SB2, S7I) + CHECKFLAGSNEW(BDS, CB3, C6I) + CHECKFLAGSNEW(BDS, LB3, L6I) + CHECKFLAGSNEW(BDS, DB3, D6I) + CHECKFLAGSNEW(BDS, SB3, S6I) if(modified) @@ -2138,9 +2215,9 @@ i = 1+snprintf(buffer, buffersize, "C %3d%-52.52s SYS / # / OBS TYPES", - Parser->info[RTCM3_MSM_COMPASS].numtypes, Parser->fieldbufferCOMPASS); - if(Parser->info[RTCM3_MSM_COMPASS].numtypes>13) + Parser->info[RTCM3_MSM_BDS].numtypes, Parser->fieldbufferBDS); + if(Parser->info[RTCM3_MSM_BDS].numtypes>13) { i += snprintf(buffer+i-1, buffersize, - "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferCOMPASS+13*4); + "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferBDS+13*4); } buffer += i; buffersize -= i; @@ -2549,5 +2626,5 @@ while((r = RTCM3Parser(Parser))) { - if(r == 1020 || r == 1019 || r == 1044 || r == 1043) + if(r == 1020 || r == RTCM3ID_BDS || r == 1019 || r == 1044 || r == 1043) { FILE *file = 0; @@ -2660,4 +2737,24 @@ file = Parser->qzssfile; } + else if(r == RTCM3ID_BDS) + { + if(Parser->bdsephemeris) + { + if(!(Parser->bdsfile = fopen(Parser->bdsephemeris, "w"))) + { + RTCM3Error("Could not open BDS ephemeris output file.\n"); + } + else + { + char buffer[100]; + fprintf(Parser->bdsfile, + "%9.2f%11sN: BDS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", ""); + HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3); + fprintf(Parser->bdsfile, "%s\n%60sEND OF HEADER\n", buffer, ""); + } + Parser->bdsephemeris = 0; + } + file = Parser->bdsfile; + } } if(file) @@ -2722,4 +2819,53 @@ ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->z_pos, e->z_velocity, e->z_acceleration, (double)e->IODN); + } + else if(r == RTCM3ID_BDS) + { + struct bdsephemeris *e = &Parser->ephemerisBDS; + double d; /* temporary variable */ + struct converttimeinfo cti; + converttimebds(&cti, e->BDSweek, e->TOC); + int num = e->satellite-PRN_BDS_START+1; + + if(Parser->rinex3) + { + ConvLine(file, + "C%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n", + num, cti.year, cti.month, cti.day, cti.hour, + cti.minute, cti.second, e->clock_bias, e->clock_drift, + e->clock_driftrate); + sep = " "; + } + else + { + ConvLine(file, + "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n", + num, cti.year%100, cti.month, cti.day, cti.hour, + cti.minute, (double) cti.second, e->clock_bias, e->clock_drift, + e->clock_driftrate); + } + ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, + (double)e->AODE, e->Crs, e->Delta_n, e->M0); + ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->Cuc, + e->e, e->Cus, e->sqrt_A); + ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, + (double) e->TOE, e->Cic, e->OMEGA0, e->Cis); + ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->i0, + e->Crc, e->omega, e->OMEGADOT); + ConvLine(file, "%s%19.12e %19.12e\n", sep, e->IDOT, + (double) e->BDSweek); + if(e->URAI <= 6) /* URA index */ + d = ceil(10.0*pow(2.0, 1.0+((double)e->URAI)/2.0))/10.0; + else + d = ceil(10.0*pow(2.0, ((double)e->URAI)/2.0))/10.0; + /* 15 indicates not to use satellite. We can't handle this special + case, so we create a high "non"-accuracy value. */ + ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, d, + ((double) (e->flags & BDSEPHF_SATH1)), e->TGD_B1_B3, + e->TGD_B2_B3); + + ConvLine(file, "%s%19.12e%19.12e\n", sep, ((double)e->TOW), + (double) e->AODC); + /* TOW, AODC */ } else /* if(r == 1019 || r == 1044) */ @@ -2783,5 +2929,5 @@ (i & GPSEPHF_6HOURSFIT) ? (Parser->rinex3 ? 1 : qzss ? 4.0 : 6.0) : (Parser->rinex3 ? 0 : qzss ? 2.0 : 4.0)); - /* TOW */ + /* TOW,Fit */ } } @@ -2872,9 +3018,9 @@ sys[RTCM3_MSM_QZSS] = 1; } - else if(Parser->Data.satellites[i] >= PRN_COMPASS_START - && Parser->Data.satellites[i] <= PRN_COMPASS_END) - { - RTCM3Text("C%02d", Parser->Data.satellites[i] - (PRN_COMPASS_START-1)); - sys[RTCM3_MSM_COMPASS] = 1; + else if(Parser->Data.satellites[i] >= PRN_BDS_START + && Parser->Data.satellites[i] <= PRN_BDS_END) + { + RTCM3Text("C%02d", Parser->Data.satellites[i] - (PRN_BDS_START-1)); + sys[RTCM3_MSM_BDS] = 1; } else if(Parser->Data.satellites[i] >= PRN_SBAS_START @@ -2981,16 +3127,16 @@ } } - else if(sys[RTCM3_MSM_COMPASS]) - { - for(j = 0; j < Parser->info[RTCM3_MSM_COMPASS].numtypes; ++j) + else if(sys[RTCM3_MSM_BDS]) + { + for(j = 0; j < Parser->info[RTCM3_MSM_BDS].numtypes; ++j) { - long long df = Parser->info[RTCM3_MSM_COMPASS].flags[j]; - int pos = Parser->info[RTCM3_MSM_COMPASS].pos[j]; + long long df = Parser->info[RTCM3_MSM_BDS].flags[j]; + int pos = Parser->info[RTCM3_MSM_BDS].pos[j]; if((Parser->Data.dataflags[i] & df) && !isnan(Parser->Data.measdata[i][pos]) && !isinf(Parser->Data.measdata[i][pos]) && (Parser->Data.codetype[i][pos] - && Parser->info[RTCM3_MSM_COMPASS].type[pos] - && Parser->info[RTCM3_MSM_COMPASS].type[pos] + && Parser->info[RTCM3_MSM_BDS].type[pos] + && Parser->info[RTCM3_MSM_BDS].type[pos] == Parser->Data.codetype[i][pos][1])) { @@ -3177,8 +3323,8 @@ RTCM3Text("J%02d", Parser->Data.satellites[i] - (PRN_QZSS_START-1)); - else if(Parser->Data.satellites[i] >= PRN_COMPASS_START - && Parser->Data.satellites[i] <= PRN_COMPASS_END) + else if(Parser->Data.satellites[i] >= PRN_BDS_START + && Parser->Data.satellites[i] <= PRN_BDS_END) RTCM3Text("C%02d", Parser->Data.satellites[i] - - (PRN_COMPASS_START-1)); + - (PRN_BDS_START-1)); else RTCM3Text("%3d", Parser->Data.satellites[i]); @@ -3214,8 +3360,8 @@ RTCM3Text("J%02d", Parser->Data.satellites[i] - (PRN_QZSS_START-1)); - else if(Parser->Data.satellites[i] >= PRN_COMPASS_START - && Parser->Data.satellites[i] <= PRN_COMPASS_END) + else if(Parser->Data.satellites[i] >= PRN_BDS_START + && Parser->Data.satellites[i] <= PRN_BDS_END) RTCM3Text("C%02d", Parser->Data.satellites[i] - - (PRN_COMPASS_START-1)); + - (PRN_BDS_START-1)); else RTCM3Text("%3d", Parser->Data.satellites[i]); @@ -3377,4 +3523,5 @@ const char *qzssephemeris; const char *glonassephemeris; + const char *bdsephemeris; }; @@ -3392,4 +3539,5 @@ { "header", required_argument, 0, 'f'}, { "user", required_argument, 0, 'u'}, +{ "bdsephemeris", required_argument, 0, 'C'}, { "gpsephemeris", required_argument, 0, 'E'}, { "qzssephemeris", required_argument, 0, 'Q'}, @@ -3405,5 +3553,5 @@ {0,0,0,0}}; #endif -#define ARGOPT "-d:s:p:r:t:f:u:E:G:B:Q:M:S:R:n:h3O" +#define ARGOPT "-d:s:p:r:t:f:u:E:C:G:B:Q:M:S:R:n:h3O" enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END }; @@ -3538,4 +3686,5 @@ args->sbasephemeris = 0; args->glonassephemeris = 0; + args->bdsephemeris = 0; args->rinex3 = 0; args->nmea = 0; @@ -3560,4 +3709,5 @@ case 'd': args->data = optarg; break; case 'f': args->headerfile = optarg; break; + case 'C': args->bdsephemeris = optarg; break; case 'E': args->gpsephemeris = optarg; break; case 'B': args->sbasephemeris = optarg; break; @@ -3636,4 +3786,5 @@ " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n" " -u " LONG_OPT("--user ") "the user name\n" + " -C " LONG_OPT("--bdsephemeris ") "output file for BDS ephemeris data\n" " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n" " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n" @@ -3744,4 +3895,5 @@ Parser.glonassephemeris = args.glonassephemeris; Parser.gpsephemeris = args.gpsephemeris; + Parser.bdsephemeris = args.bdsephemeris; Parser.qzssephemeris = args.qzssephemeris; Parser.sbasephemeris = args.sbasephemeris; Index: /trunk/rtcm3torinex/lib/rtcm3torinex.h =================================================================== --- /trunk/rtcm3torinex/lib/rtcm3torinex.h (revision 6598) +++ /trunk/rtcm3torinex/lib/rtcm3torinex.h (revision 6599) @@ -40,6 +40,6 @@ #define PRN_SBAS_START 120 #define PRN_SBAS_END 141 -#define PRN_COMPASS_START 161 -#define PRN_COMPASS_END 190 +#define PRN_BDS_START 161 +#define PRN_BDS_END 190 #define PRN_QZSS_START 193 #define PRN_QZSS_END 202 @@ -60,5 +60,5 @@ #define RTCM3_MSM_SBAS 3 #define RTCM3_MSM_QZSS 4 -#define RTCM3_MSM_COMPASS 5 +#define RTCM3_MSM_BDS 5 #define RTCM3_MSM_NUMSYS 6 @@ -277,10 +277,10 @@ #define QZSS_WAVELENGTH_LEX (LIGHTSPEED / QZSS_FREQU_LEX) /* m */ -#define COMPASS_FREQU_B1 1561098000.0 /* Hz */ -#define COMPASS_FREQU_B2 1207140000.0 /* Hz */ -#define COMPASS_FREQU_B3 1268520000.0 /* Hz */ -#define COMPASS_WAVELENGTH_B1 (LIGHTSPEED / COMPASS_FREQU_B1) /* m */ -#define COMPASS_WAVELENGTH_B2 (LIGHTSPEED / COMPASS_FREQU_B2) /* m */ -#define COMPASS_WAVELENGTH_B3 (LIGHTSPEED / COMPASS_FREQU_B3) /* m */ +#define BDS_FREQU_B1 1561098000.0 /* Hz */ +#define BDS_FREQU_B2 1207140000.0 /* Hz */ +#define BDS_FREQU_B3 1268520000.0 /* Hz */ +#define BDS_WAVELENGTH_B1 (LIGHTSPEED / BDS_FREQU_B1) /* m */ +#define BDS_WAVELENGTH_B2 (LIGHTSPEED / BDS_FREQU_B2) /* m */ +#define BDS_WAVELENGTH_B3 (LIGHTSPEED / BDS_FREQU_B3) /* m */ #define PRN_GIOVE_OFFSET 51 @@ -365,9 +365,4 @@ }; -#define GALEPHF_E5ADINVALID (1<<0) /* E5aDVS set invalid */ -#define GALEPHF_E5BDINVALID (1<<1) /* E5bDVS set invalid */ -#define GALEPHF_INAV (1<<2) /* INAV data */ -#define GALEPHF_FNAV (1<<3) /* FNAV data */ - #define GLOEPHF_UNHEALTHY (1<<0) /* set if unhealty satellite, f2b78 */ #define GLOEPHF_ALMANACHEALTHOK (1<<1) /* set if ALM health is available */ @@ -420,4 +415,9 @@ int URA; /* [bits 35- 38] */ }; + +#define GALEPHF_E5ADINVALID (1<<0) /* E5aDVS set invalid */ +#define GALEPHF_E5BDINVALID (1<<1) /* E5bDVS set invalid */ +#define GALEPHF_INAV (1<<2) /* INAV data */ +#define GALEPHF_FNAV (1<<3) /* FNAV data */ struct galileoephemeris { @@ -453,4 +453,39 @@ }; +#define RTCM3ID_BDS 63 +#define BDSEPHF_SATH1 (1<<0) /* SatH1 is 1 */ + +struct bdsephemeris { + int flags; /* BDSEPHF_xxx */ + int satellite; /* SV ID */ + int AODE; /* */ + int URAI; /* [1..15] */ + int BDSweek; /* */ + int AODC; /* */ + int TOW; /* [s] */ + int TOC; /* [s] */ + int TOE; /* [s] */ + double clock_bias; /* [s] */ + double clock_drift; /* [s/s] */ + double clock_driftrate; /* [s/s^2] */ + double Crs; /* [m] */ + double Delta_n; /* [rad/s] */ + double M0; /* [rad] */ + double Cuc; /* [rad] */ + double e; /* */ + double Cus; /* [rad] */ + double sqrt_A; /* [m^0.5] */ + double Cic; /* [rad] */ + double OMEGA0; /* [rad] */ + double Cis; /* [rad] */ + double i0; /* [rad] */ + double Crc; /* [m] */ + double omega; /* [rad] */ + double OMEGADOT; /* [rad/s] */ + double IDOT; /* [rad/s] */ + double TGD_B1_B3; /* [s] */ + double TGD_B2_B3; /* [s] */ +}; + struct DataInfo { long long flags[RINEXENTRY_NUMBER]; @@ -472,4 +507,5 @@ struct glonassephemeris ephemerisGLONASS; struct sbasephemeris ephemerisSBAS; + struct bdsephemeris ephemerisBDS; struct gnssdata DataNew; int GLOFreq[PRN_GLONASS_NUM]; /* frequency numbers of GLONASS + 100 */ @@ -502,5 +538,5 @@ char fieldbufferGLONASS[4*RINEXENTRY_NUMBER+1]; char fieldbufferGALILEO[4*RINEXENTRY_NUMBER+1]; - char fieldbufferCOMPASS[4*RINEXENTRY_NUMBER+1]; + char fieldbufferBDS[4*RINEXENTRY_NUMBER+1]; char fieldbufferQZSS[4*RINEXENTRY_NUMBER+1]; int numdatafields; /* for RTCM2 */ @@ -515,8 +551,10 @@ const char * qzssephemeris; const char * sbasephemeris; + const char * bdsephemeris; FILE * glonassfile; FILE * gpsfile; FILE * qzssfile; FILE * sbasfile; + FILE * bdsfile; };